Anticipatory Postural Adjustments (APAs) are motor responses which anticipate a perturbation on the current body position caused by a voluntary act. Here we propose that APAs can be decomposed into a compensatory and an anticipatory component and that the cerebellum might be involved in the acquisition of such responses. To test this hypothesis, we use a cerebellar model to control the acquisition of an APA in a robotic task: we devise a setup where a mobile robot is trained to acquire an APA which minimizes a perturbation in its speed after a collision with an obstacle. Our results show that the same cerebellar model can support the acquisition of an APA separately learning its two sub-components. Moreover, our solution suggests that the acquisition of an APA involves two stages: acquisition of a compensatory motor response and prediction of an incoming sensory signal useful to trigger the same response in an anticipatory manner. © 2013 Springer-Verlag Berlin Heidelberg.
CITATION STYLE
Maffei, G., Herreros, I., Sánchez-Fibla, M., & Verschure, P. F. M. J. (2013). Acquisition of anticipatory postural adjustment through cerebellar learning in a mobile robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 8064 LNAI, pp. 399–401). Springer Verlag. https://doi.org/10.1007/978-3-642-39802-5_47
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